本研究提出使用三維人體模型來計算全身運動參數，且運用螺旋理論提出一新方法求取人體的零力矩點(ZMP)。根據專業武術家表演連續25秒的武術動作執行本研究所提出的方法，然後比較以螺旋理論求得的ZMP與使用常規的Vukobratovic法所求得的ZMP的差異。最後，運用螺旋理論中的二系統幾何特性來推導雙腳觸地時的數學模型，該系統可用12條限制式及2個自由參數描述，然後以最小內力矩為目標函數求最佳解。結果顯示，自由參數越多所求得的內力矩越小，且人體所受的內力與內力矩可由作用於雙腳的螺旋求得。

This study proposes a method for determining the dynamic parameters of human motion using a three-dimensional (3D) whole human body model. Accordingly, the wrench screw exerts on the body ($0) is found via Newton/Euler equations. Furthermore, the zero moment point (ZMP) of the $0 is found from the definition of the screw. The comparison of the proposed method and the conventional Vukobratovic method is demonstrated by evaluating the whole body dynamics over the course of a 25-second sequence of continuous moves performed by a professional martial arts practitioner. Using linear dependency of the reaction screws of both feet and $0, there are 12 equations to solve 14 unknowns. Two parameters are characterized by the geometry of the two-system, namely a cylindroid. Therefore, optimal foot reactions can be computed by the assumption of minimum internal moment generated by the foot contact points. It is shown that the two-system is given more degrees of freedom, the internal moment can reach a smaller value. Moreover, the internal forces and internal moments acting on the body are determined by the reaction screws of both feet.

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